Trajectory tracking control for mobile robot based on the fuzzy sliding mode

Author

Xie Mu-jun ; Li Li-ting ; Wang Zhi-qian

Author_Institution

Sch. of Electr. & Electron. Eng., Changchun Univ. of Technol., Changchun, China

fYear

2012

fDate

6-8 July 2012

Firstpage

2706

Lastpage

2709

Abstract

The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints is analyzed. Sliding mode control is presented based on the kinematics models analysis. Switching function of sliding model control is designed according to back-stepping method. Trending law control is selected to improve the system dynamic performance. In order to solve the constant speed problem caused by conventional trending law control, fuzzy control is used to adjust trending speed in the real time. The simulation results demonstrate that the fuzzy sliding mode controller improves the rapidity of trajectory tracking, and reduces the tracking error and the chattering of the control output.

Keywords

fuzzy control; mobile robots; robot kinematics; tracking; trajectory control; uncertain systems; variable structure systems; back-stepping method; chattering; constant speed problem; control output; conventional trending law control; fuzzy control; fuzzy sliding mode controller; kinematics models analysis; nonholonomic constraints; switching function; system dynamic performance; tracking error; trajectory tracking control; trending speed; uncertain mobile robot; Educational institutions; Kinematics; Mobile robots; Sliding mode control; Switches; Trajectory; Wheels; Fuzzy sliding model control; mobile robot; trajectory tracking; trending law;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Conference_Location

Beijing

Print_ISBN

978-1-4673-1397-1

Type

conf

DOI

10.1109/WCICA.2012.6358331

Filename

6358331